CN110060302A - Analysis system and method for camera and projector calibrating - Google Patents
Analysis system and method for camera and projector calibrating Download PDFInfo
- Publication number
- CN110060302A CN110060302A CN201910201645.4A CN201910201645A CN110060302A CN 110060302 A CN110060302 A CN 110060302A CN 201910201645 A CN201910201645 A CN 201910201645A CN 110060302 A CN110060302 A CN 110060302A
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- camera
- calibration
- projector
- screen
- processor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Projection Apparatus (AREA)
Abstract
The invention discloses a kind of analysis system and method for camera and projector calibrating, the analysis system includes a camera, a projector, the screen and a processor for projection；Processor is separately connected camera and projector, and processor sends trigger signal to the camera and the projector respectively；The screen of camera shooting only calibration pattern is calibration image；Processor is for obtaining camera calibration data；Projector is for projecting calibration picture；The calibration picture that camera is used to shoot each brightness on the screen is picture images；Processor obtains the corner location and angle point phase of calibration picture according to picture images；Processor is used to obtain the phase of calibration picture every bit.Analysis system for camera and projector calibrating of the invention can obtain the phase of calibration relationship and projector projects image between the camera of projection grating modeling, projector, and the precision for modeling projection grating is higher, the model of foundation more fidelity.
Description
Technical field
The present invention relates to a kind of analysis systems and method for camera and projector calibrating.
Background technique
Three-dimensional reconstruction refers to the mathematical model established to three-dimension object and be suitble to computer representation and processing, is in computer ring
The basis of its property is handled it, operated and analyzed under border, and establishes the virtual of expression objective world in a computer
The key technology of reality.
It is a kind of three-dimensional reconstruction mode that optical grating projection, which carries out three-dimensional reconstruction, and grating is projected to reference planes respectively and is tested
Body surface, what it is due to reference planes selection is horizontal plane, and the reference grating projected to above will not deform；Work as grating
When projecting to testee surface, grating can generate different degrees of deformation, be that measured object body surface is received due to projection grating
The modulation of face height.The testee height placed is different, and the phase change degree of grating is also different therewith, and two-dimensional surface becomes
The three-dimensional appearance information of body surface is carried in the phase change of shape striped.It therefore, can be with by seeking the changing value of phase
Height of the object at respective point is obtained, to obtain the chamfered shape of three-dimension object.
Existing optical grating projection carries out causing image distortion tight there are camera and projector calibrating inconvenience in three-dimensional reconstruction
Weight, establishes the lower defect of precision of model.
Summary of the invention
The technical problem to be solved by the present invention is to exist to overcome in optical grating projection progress three-dimensional reconstruction in the prior art
Calibration is inconvenient, and image distortion is serious, establishes the lower defect of precision of model, and providing one kind being capable of more acurrate acquisition projected light
The phase of calibration relationship and projector projects image between the camera of grid modeling, projector, models projection grating
Precision it is higher, the analysis system and method for camera and projector calibrating of the model of foundation more fidelity.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of analysis system for camera and projector calibrating, it is characterized in that, the analysis system include a camera,
One projector, the screen and a processor for projection；
The processor is separately connected the camera and the projector, and the processor is to the camera and the throwing
Shadow instrument sends trigger signal respectively；
The camera includes a pick-up lens, and the projector includes a projection lens, the shooting side of the pick-up lens
The screen is directed to the projecting direction of the projection lens；
The screen is equipped with a calibration pattern；
The screen of the camera shooting only calibration pattern is calibration image；
The processor is used to demarcate the camera using the calibration image, and obtains camera calibration data；
The projector is used to project the calibration picture of at least two brightness to the screen；
The calibration picture that the camera is used to shoot each brightness on the screen is picture images；
The processor is used to obtain the corner location and angle point phase of calibration picture according to the picture images；
The processor is used to obtain the phase of calibration picture every bit using corner location and angle point phase.
Preferably,
For each angle point, the processor is used to obtain the square area centered on the angle point；
The processor is used to obtain the side of square area according to the position of the angle point and the phase of the angle point
The phase put in boundary；
The phase of target point in square area is obtained according to the phase put on boundary.
Preferably, the projector is used to project the calibration picture of at least two brightness to the screen, comprising:
The projector is used to project the calibration picture of at least two gray scale to the screen；Or,
The projector is used for one calibration picture of screen projection, and projects at least two in the calibration maps on piece
The grayscale image of gray scale.
Preferably,
For showing calibration pattern, the color changeable of the calibration pattern on the screen；
The camera is used to transmit the calibration image of the calibration pattern of at least two color to the processor；
The processor is used to demarcate the camera by whole calibration images.
Preferably, the screen includes a power supply module and a display panel, the display panel is equipped with electroluminescent change
Color dyestuff, the power supply module are connect with the electrochromic dyes.
Preferably, the screen includes a translucent blank, a control chip, the front printing institute of the translucent blank
Calibration pattern is stated, the back side of the translucent blank is equipped with several LED light, and the illumination direction alignment of the LED light is described semi-transparent
Understand plate；
The control chip is used to control the brightness of the LED light；
After the processor is also used to send adjusting luminance signal to the control chip, Xiang Suoshu camera sends triggering letter
Number.
Preferably, the screen is LCD screen, the LCD screen shows predetermined pattern, the shape of the predetermined pattern
It is identical as the calibration shape of pattern, the color changeable of predetermined pattern.
Preferably, described include a support frame for the analysis system of camera and projector calibrating, support frame as described above includes
The top of two support rods, each support rod is equipped with a holder, and the camera and the projector are respectively arranged on the holder.
Preferably, support frame as described above further includes the lateral fixed link of the connection projection screen, the transverse direction fixed link with
Two support rods are vertical, the adjustable in length of the transverse direction fixed link.
The present embodiment provides a kind of analysis methods for camera and projector calibrating, it is characterized in that, the analysis side
Method is realized by analysis system as described above.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
Analysis system and method for camera and projector calibrating of the invention can obtain projection grating modeling
Camera, image related and projector projects image the phase between projector, facilitate and obtain overexposure, excessively dark region,
The precision for modeling projection grating is higher, the model of foundation more fidelity.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for camera and the analysis system of projector calibrating of the embodiment of the present invention 1.
Fig. 2 is the flow chart of the analysis method of the embodiment of the present invention 1.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
Referring to Fig. 1, the present embodiment provides a kind of analysis system for camera and projector calibrating, the analysis system packet
Include the screen 13 and a processor of a camera 11, a projector 12, one for projection；
The processor is separately connected the camera and the projector, and the processor is to the camera and the throwing
Shadow instrument sends trigger signal respectively；
The camera includes a pick-up lens, and the projector includes a projection lens, the shooting side of the pick-up lens
The screen is directed to the projecting direction of the projection lens；
The screen is equipped with a calibration pattern；
The screen of the camera shooting only calibration pattern is calibration image；
The processor is used to demarcate the camera using the calibration image, and obtains camera calibration data；
The projector is used to project the calibration picture of at least two brightness to the screen；
The calibration picture that the camera is used to shoot each brightness on the screen is picture images；
The processor is used to obtain the corner location and angle point phase of calibration picture according to the picture images；
The processor is used to obtain the phase of calibration picture every bit using corner location and angle point phase.
The specific mode for obtaining phase are as follows:
For each angle point, the processor is used to obtain the square area centered on the angle point；
The processor is used to obtain the side of square area according to the position of the angle point and the phase of the angle point
The phase put in boundary；
The phase of target point in square area is obtained according to the phase put on boundary.
After obtaining corner location and angle point phase, the phase put on the boundary of square area can be obtained, for
Target point in square area can be obtained according to the length and corner location of square by the calculating of trigonometric function
The phase of target point.
The projector is used to project the calibration picture of at least two brightness to the screen, comprising:
The projector is used to project the calibration picture of at least two gray scale to the screen, and different gray scales is on the screen
Display brightness it is different.
Furthermore it is also possible to the calibration maps on piece polishing and to the calibration maps on piece projection gray level image, from
And realize the difference of the display brightness on screen.
The projector is used for one calibration picture of screen projection, and projects at least two in the calibration maps on piece
The grayscale image of gray scale.
For showing calibration pattern, the color changeable of the calibration pattern on the screen；
The camera is used to transmit the calibration image of the calibration pattern of at least two color to the processor；
The processor is used to demarcate the camera by whole calibration images.
The present embodiment is more convenient by the calibration pattern acquisition angle point of multiple colors.
Specifically, the screen includes a power supply module and a display panel, and the display panel is equipped with electroluminescent change
Color dyestuff, the power supply module are connect with the electrochromic dyes.
Described to include a support frame 14 for the analysis system of camera and projector calibrating, support frame as described above includes two branch
The top of strut 15, each support rod is equipped with a holder 16, and the camera and the projector are respectively arranged on the holder.
Support frame as described above further includes the lateral fixed link 17 of the connection projection screen, the transverse direction fixed link and two branch
Strut is vertical, the adjustable in length of the transverse direction fixed link.
Referring to fig. 2, using above-mentioned analysis system, the present embodiment also provides a kind of analysis method, comprising:
Output calibration pattern in step 100, the screen.
The screen that step 101, camera shooting only demarcate pattern is calibration image；
Step 102, the processor are used to demarcate the camera using the calibration image, and obtain camera calibration number
According to；
Step 103, the projector are used to project the calibration picture of at least two brightness to the screen；
The calibration picture that step 104, the camera are used to shoot each brightness on the screen is picture images；
Step 105, the processor are used to obtain the corner location and angle point of calibration picture according to the picture images
Phase；
Step 106, the processor are used to obtain the phase of calibration picture every bit using corner location and angle point phase
Position.
Specifically, step 106 includes:
For each angle point, the processor is used to obtain the square area centered on the angle point；
The processor is used to obtain the side of square area according to the position of the angle point and the phase of the angle point
The phase put in boundary；
The phase of target point in square area is obtained according to the phase put on boundary.
Step 103 includes:
The projector is used to project the calibration picture of at least two gray scale to the screen；Or,
The projector is used for one calibration picture of screen projection, and projects at least two in the calibration maps on piece
The grayscale image of gray scale.
Further, calibration pattern, the color changeable of the calibration pattern are shown on screen described in step 100；
To which in step 101, the camera transmits the calibration shadow of the calibration pattern of at least two color to the processor
Picture；
Step 102 is then are as follows: the processor passes through whole calibration images and demarcates the camera.
The phase that projection grating modeling can be obtained with the analysis system of projector calibrating for camera of the present embodiment
Image related and projector projects image phase between machine, projector facilitates and obtains overexposure, excessively dark region, makes to throw
The precision of shadow grating modeling is higher, the model of foundation more fidelity.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, the difference is that only:
The screen includes a translucent blank, a control chip, and the calibration is printed in the front of the translucent blank
Pattern, the back side of the translucent blank are equipped with several LED light, and the illumination direction of the LED light is directed at the translucent blank；
The control chip is used to control the brightness of the LED light；
After the processor is also used to send adjusting luminance signal to the control chip, Xiang Suoshu camera sends triggering letter
Number.
Embodiment 3
The present embodiment is substantially the same manner as Example 1, the difference is that only:
The screen is LCD screen, and the LCD screen shows predetermined pattern, the shape of the predetermined pattern with it is described
The shape for demarcating pattern is identical, the color changeable of predetermined pattern.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (10)
1. a kind of analysis system for camera and projector calibrating, which is characterized in that the analysis system includes a camera, one
Projector, the screen and a processor for projection；
The processor is separately connected the camera and the projector, and the processor is to the camera and the projector
Trigger signal is sent respectively；
The camera include a pick-up lens, the projector include a projection lens, the shooting direction of the pick-up lens with
The projecting direction of the projection lens is directed at the screen；
The screen is equipped with a calibration pattern；
The screen that the camera is used to shoot only calibration pattern is calibration image；
The processor is used to demarcate the camera using the calibration image, and obtains camera calibration data；
The projector is used to project the calibration picture of at least two brightness to the screen；
The calibration picture that the camera is used to shoot each brightness on the screen is picture images；
The processor is used to obtain the corner location and angle point phase of calibration picture according to the picture images；
The processor is used to obtain the phase of calibration picture every bit using corner location and angle point phase.
2. analysis system as described in claim 1, which is characterized in that
For each angle point, the processor is used to obtain the square area centered on the angle point；
The processor is used to obtain the boundary of square area according to the position of the angle point and the phase of the angle point
The phase of point；
The phase of target point in square area is obtained according to the phase put on boundary.
3. analysis system as described in claim 1, which is characterized in that the projector is used for screen projection at least 2
The calibration picture of a brightness, comprising:
The projector is used to project the calibration picture of at least two gray scale to the screen；Or,
The projector is used for one calibration picture of screen projection, and projects at least two gray scale in the calibration maps on piece
Grayscale image.
4. analysis system as described in claim 1, which is characterized in that
For showing calibration pattern, the color changeable of the calibration pattern on the screen；
The camera is used to transmit the calibration image of the calibration pattern of at least two color to the processor；
The processor is used to demarcate the camera by whole calibration images.
5. analysis system as claimed in claim 4, which is characterized in that the screen includes a power supply module and a display surface
Plate, the display panel are equipped with electrochromic dyes, and the power supply module is connect with the electrochromic dyes.
6. analysis system as claimed in claim 4, which is characterized in that the screen includes a translucent blank, a control core
The calibration pattern is printed in piece, the front of the translucent blank, and the back side of the translucent blank is equipped with several LED light, institute
The illumination direction for stating LED light is directed at the translucent blank；
The control chip is used to control the brightness of the LED light；
After the processor is also used to send adjusting luminance signal to the control chip, Xiang Suoshu camera sends trigger signal.
7. analysis system as claimed in claim 4, which is characterized in that the screen is LCD screen, and the LCD screen is aobvious
Show predetermined pattern, the shape of the predetermined pattern is identical as the calibration shape of pattern, the color changeable of predetermined pattern.
8. analysis system as described in claim 1, which is characterized in that the analysis system for camera and projector calibrating
Including a support frame, support frame as described above includes two support rods, and the top of each support rod is equipped with a holder, the camera and institute
Projector is stated to be respectively arranged on the holder.
9. analysis system as described in claim 1, which is characterized in that support frame as described above further includes the connection projection screen
Lateral fixed link, the transverse direction fixed link is vertical with two support rods, the adjustable in length of the transverse direction fixed link.
10. a kind of analysis method for camera and projector calibrating, which is characterized in that the analysis method is wanted by such as right
Analysis system described in asking any one of 1 to 9 is realized.
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| CN201910201645.4A CN110060302B (en) | 2019-03-18 | 2019-03-18 | Analysis system and method for calibrating camera and projector |
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| CN201910201645.4A CN110060302B (en) | 2019-03-18 | 2019-03-18 | Analysis system and method for calibrating camera and projector |
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| CN110060302B CN110060302B (en) | 2023-02-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111498426A (en) * | 2020-04-10 | 2020-08-07 | 中国矿业大学 | Method for detecting chain breakage of double-chain scraper conveyor through structured light positioning and ranging |
| CN113484833A (en) * | 2021-07-29 | 2021-10-08 | 深圳市道通科技股份有限公司 | Automobile calibration equipment |
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| CN104156962A (en) * | 2014-08-12 | 2014-11-19 | 武汉华科喻德科技有限公司 | Method of calibrating spatial position relationship of camera and projector based on trapezoidal patterns |
| WO2017161608A1 (en) * | 2016-03-21 | 2017-09-28 | 完美幻境(北京)科技有限公司 | Geometric calibration processing method and device for camera |
| CN109474814A (en) * | 2018-12-10 | 2019-03-15 | 盎锐（上海）信息科技有限公司 | Two-dimensional calibration method, projector and the calibration system of projector |
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| CN102708566A (en) * | 2012-05-08 | 2012-10-03 | 天津工业大学 | Novel single-camera and single-projection light source synchronous calibrating method |
| CN104156962A (en) * | 2014-08-12 | 2014-11-19 | 武汉华科喻德科技有限公司 | Method of calibrating spatial position relationship of camera and projector based on trapezoidal patterns |
| WO2017161608A1 (en) * | 2016-03-21 | 2017-09-28 | 完美幻境(北京)科技有限公司 | Geometric calibration processing method and device for camera |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111498426A (en) * | 2020-04-10 | 2020-08-07 | 中国矿业大学 | Method for detecting chain breakage of double-chain scraper conveyor through structured light positioning and ranging |
| CN111498426B (en) * | 2020-04-10 | 2021-09-24 | 中国矿业大学 | Method for detecting chain breakage of double-chain scraper conveyor through structured light positioning and ranging |
| CN113484833A (en) * | 2021-07-29 | 2021-10-08 | 深圳市道通科技股份有限公司 | Automobile calibration equipment |
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| CN110060302B (en) | 2023-02-07 |
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